Development of a laser-range-finder-based human tracking and control algorithm for a marathoner service robot

Eui Jung Jung, Jae Hoon Lee, Byung Ju Yi, Jooyoung Park, Shin'ichi Yuta, Si Tae Noh

Research output: Contribution to journalArticle

56 Citations (Scopus)

Abstract

This paper presents a human detection algorithm and an obstacle avoidance algorithm for a marathoner service robot (MSR) that provides a service to a marathoner while training. To be used as a MSR, the mobile robot should have the abilities to follow a running human and avoid dynamically moving obstacles in an unstructured outdoor environment. To detect a human by a laser range finder (LRF), we defined features of the human body in LRF data and employed a support vector data description method. In order to avoid moving obstacles while tracking a running person, we defined a weighted radius for each obstacle using the relative velocity between the robot and an obstacle. For smoothly bypassing obstacles without collision, a dynamic obstacle avoidance algorithm for the MSR is implemented, which directly employed a real-time position vector between the robot and the shortest path around the obstacle. We verified the feasibility of these proposed algorithms through experimentation in different outdoor environments.

Original languageEnglish
Article number6690173
Pages (from-to)1963-1975
Number of pages13
JournalIEEE/ASME Transactions on Mechatronics
Volume19
Issue number6
DOIs
Publication statusPublished - 2014 Dec

Keywords

  • Human detection
  • machine learning
  • mobile robot
  • obstacle avoidance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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